convex.h

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#ifndef HPP_FCL_SHAPE_CONVEX_H
#define HPP_FCL_SHAPE_CONVEX_H

#include <hpp/fcl/shape/geometric_shapes.h>

namespace hpp
{
namespace fcl
{

template <typename PolygonT>
class Convex : public ConvexBase
{
public:
  Convex(bool ownStorage,
         Vec3f* points_, int num_points_,
         PolygonT* polygons_, int num_polygons_);

  Convex(const Convex& other);

  ~Convex();

  PolygonT* polygons;
  int num_polygons;

  Matrix3f computeMomentofInertia() const;

  Vec3f computeCOM() const;

  FCL_REAL computeVolume() const;

protected:
  void fillNeighbors();
};

}

} // namespace hpp

#include <hpp/fcl/shape/details/convex.hxx>

#endif